CN107150766B - Autonomous balance system and method for deep stirring ship - Google Patents
Autonomous balance system and method for deep stirring ship Download PDFInfo
- Publication number
- CN107150766B CN107150766B CN201710508685.4A CN201710508685A CN107150766B CN 107150766 B CN107150766 B CN 107150766B CN 201710508685 A CN201710508685 A CN 201710508685A CN 107150766 B CN107150766 B CN 107150766B
- Authority
- CN
- China
- Prior art keywords
- liquid level
- trim
- ballast
- ballast water
- water tank
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/02—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses
- B63B39/03—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by displacement of masses by transferring liquids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/12—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating draught or load
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Mixers Of The Rotary Stirring Type (AREA)
Abstract
The invention discloses an autonomous balancing system and method of a deep stirring vessel, wherein the system comprises a pipeline system and an automatic control system, and the pipeline system comprises a tilting ballast water tank, a tilting pump set, a pipeline and a valve; the automatic control system comprises a draft sensor, an inclinometer, a liquid level switch and a PLC control system. And adjusting the liquid level in each tilting ballast water tank through the obtained draft water level at four corners of the bottom of the deep stirring vessel, the liquid level of each tilting ballast water tank detected by the liquid level switch, and the tilting angle and the tilting direction detected by the tilting instrument, so that the liquid level reaches a liquid level set value for enabling the deep stirring vessel to recover the balance position. By adopting the system or the method, when the ship is in the trim and the trim, the balance of the ship can be quickly, accurately and automatically adjusted, so that the ship can automatically keep balance under the influence of stormy waves and construction operation, and the damage to the construction safety of the ship due to overlarge trim angle is avoided.
Description
Technical Field
The invention relates to the technical field of ships, in particular to an autonomous balance system and an autonomous balance method for a deep stirring ship.
Background
In the soft foundation reinforcement treatment engineering of the seabed, the traditional offshore reclamation construction operation is difficult in dredging and spoiling, and can cause serious influence on the offshore environment and the offshore aquaculture. The deep stirring ship uses cement as main curing agent, the soft soil and the curing agent are forcedly mixed in the deep sea base by a deep mixing processor arranged on the ship, a columnar body with certain strength is formed by the hydrolysis and hydration reaction of the cement, and the columnar body and soil in between support loads together to form the composite foundation.
In the construction process, the ship is influenced by wind and waves to generate swaying such as swaying, pitching and the like; meanwhile, when the processor works underwater, the processor is also subjected to the reaction force of the seabed, so that the ship generates transverse inclination and longitudinal inclination; the stirring piles of the deep stirring boat are generally longer and have poor rigidity, and the moment generated after being stressed is larger, so that the stirring piles are easy to deform or even destroy under alternating load; these pose a great threat to the manoeuvrability, safety and economy of the vessel.
Disclosure of Invention
The invention aims to provide an autonomous balancing system and an autonomous balancing method for a deep stirring ship, which can keep the ship balanced well under the influence of wind waves and construction operation.
In order to achieve the above object, the present invention provides the following solutions:
a submerged stirring vessel autonomous balancing system, the system comprising: a pipeline system and an automatic control system;
the pipeline system comprises a tipping ballast water tank, a tipping pump set, a pipeline and a valve;
the de-centralized ballast water tanks comprise a first de-centralized ballast water tank, a second de-centralized ballast water tank, a third de-centralized ballast water tank, a fourth de-centralized ballast water tank and a fifth de-centralized ballast water tank; the first and second regulating ballast water tanks are symmetrically arranged on two sides of the deep mixing ship bow; the third and fourth regulating ballast water tanks are symmetrically arranged on two sides of the stern of the deep mixing ship; the fifth de-centralized ballast water tank is arranged between the third de-centralized ballast water tank and the fourth de-centralized ballast water tank; the first de-centralized ballast water tank, the second de-centralized ballast water tank, the third de-centralized ballast water tank, the fourth de-centralized ballast water tank and the fifth de-centralized ballast water tank are connected with each other by the pipeline; each of the tipping ballast water tanks is provided with a water inlet and a water outlet;
the tilt adjusting pump group comprises a tilt adjusting pump and a tilt adjusting pump; the trim pump is connected with the first trim ballast water tank and the second trim ballast water tank through the pipeline; the tipping pump is connected with all the tipping ballast water tanks through the pipeline;
The valve part is arranged on the pipeline;
the automatic control system comprises a draft sensor, an inclinometer, a liquid level switch and a PLC control system;
the PLC control system comprises a PLC control master station and a PLC control slave station;
the draft sensor is arranged at four corners of the bottom of the deep stirring ship, and the signal output end of the draft sensor is connected with the first signal input end of the PLC slave station;
the inclinometer is arranged on a centralized control console of the deep stirring ship control room, and a signal output end of the inclinometer is connected with a second signal input end of the PLC slave station;
the liquid level switch is arranged in the tipping ballast water tank, and the signal output end of the liquid level switch is connected with the third signal input end of the PLC slave station;
the signal output end of the tilt adjusting pump set is connected with the fourth signal input end of the PLC slave station; the signal output end of the valve element is connected with the fifth signal input end of the PLC slave station;
the first signal output end of the PLC slave station is connected with the signal input end of the PLC master station;
the signal output end of the PLC master station is connected with the sixth signal input end of the PLC slave station;
the second output end of the PLC slave station is connected with the controller of the tilt adjusting pump; the third output end of the PLC slave station is connected with the control end of the valve element; and the fourth output end of the PLC slave station is connected with the control end of the water inlet.
Optionally, the water inlet and outlet includes an external water inlet, an external water outlet, and an internal water delivery port.
Optionally, the first and second de-ballast tanks have the same capacity, the third and fourth de-ballast tanks have the same capacity, and the third de-ballast tank has a capacity greater than the first de-ballast tank.
Optionally, the flow rate of the tilt pump is smaller than the flow rate of the tilt pump.
Optionally, the valve member includes a manual butterfly valve, a hydraulic butterfly valve, and a butterfly check valve.
Optionally, the automatic control system further comprises a plurality of instruments and meters, wherein the instruments and meters are arranged on the pipeline and comprise a pressure sensor, a pressure gauge and a vacuum pressure gauge;
the pressure sensor and the pressure gauge are arranged between the tilting pump and the butterfly check valve nearest to the tilting pump; the signal output end of the pressure sensor is connected with the seventh signal input end of the PLC slave station;
the signal output end of the pressure gauge is connected with the eighth signal input end of the PLC slave station;
the vacuum pressure gauge is arranged between the tilt adjusting pump and the hydraulic butterfly valve nearest to the tilt adjusting pump; and the signal output end of the vacuum pressure gauge is connected with the ninth signal input end of the PLC slave station.
Optionally, the PLC slave station is arranged in a site collection box of the left side and the right side of the cabin of the deep mixing vessel, and the PLC master station is arranged on the centralized control console of the control room of the deep mixing vessel.
Optionally, the automatic control system further comprises a monitoring computer workstation, wherein the monitoring computer workstation comprises a computer and network communication equipment, and the network communication equipment comprises a network switch, a gateway and a communication bus;
the network switch is respectively connected with the computer, the PLC master station and the gateway through the communication bus.
The invention also discloses an autonomous balancing method of the deep mixing vessel, which is applied to the autonomous balancing system of the deep mixing vessel, and comprises the following steps:
acquiring the draft water levels at four corners of the bottom of the deep mixing vessel, the liquid levels of the inclination-adjusting ballast water tanks, the transverse inclination angle of the deep mixing vessel and the transverse inclination direction of the deep mixing vessel;
calculating the pitching angle and the pitching direction of the deep stirring ship according to the draft water level;
and adjusting the liquid level in each of the trim ballast tanks according to the trim angle, the trim direction, the trim angle, the trim direction and the liquid level to enable the liquid level to reach a liquid level set value for enabling the deep mixing vessel to recover to an equilibrium position.
Optionally, the method further comprises:
acquiring the liquid level of each tilting ballast water tank of the deep stirring ship;
judging whether the liquid level is higher than a set liquid level upper limit value or lower than a set liquid level lower limit value;
when the liquid level is higher than the liquid level upper limit value, a high liquid level alarm is sent out;
and when the liquid level is lower than the liquid level lower limit value, sending out a low liquid level alarm.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention discloses an autonomous balancing system and method of a deep stirring vessel, wherein the system comprises a pipeline system and an automatic control system, and the pipeline system comprises a tilting ballast water tank, a tilting pump group, a pipeline and a valve; the automatic control system comprises a draft sensor, an inclinometer, a liquid level switch and a PLC control system; the liquid level in each of the tilting ballast tanks is adjusted according to the inclination angle, the inclination direction and the liquid level, so that the liquid level reaches a liquid level set value for enabling the deep stirring vessel to recover to a balance position. When the ship is in the trim and the trim, the system and the method can realize the quick, accurate and automatic adjustment of the balance of the ship, so that the ship can automatically keep balance under the influence of stormy waves and construction operation, and the damage to the construction safety of the ship due to overlarge trim angle of the ship is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an autonomous balance system of a deep mixing vessel in accordance with an embodiment of the present invention;
FIG. 2 is a flow chart of a method for autonomous balancing of a deep stirred vessel in accordance with an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an autonomous balancing system and an autonomous balancing method for a deep stirring ship.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Fig. 1 is a schematic structural diagram of an autonomous balance system of a deep mixing vessel according to an embodiment of the present invention.
A submerged stirring vessel autonomous balancing system as shown in fig. 1, said system comprising: pipeline system and automatic control system.
The pipeline system comprises a trim ballast tank 101, a trim pump set 102, a pipeline 103 and a valve member 104.
The de-ballast water tanks 101 include a first de-ballast water tank 1011, a second de-ballast water tank 1012, a third de-ballast water tank 1013, a fourth de-ballast water tank 1014, and a fifth de-ballast water tank 1015.
The first and second ballast tanks 1011 and 1012 are symmetrically disposed on both sides of the deep mixing vessel bow. The third and fourth ballast tanks 1013 and 1014 are symmetrically disposed on both sides of the stern of the deep mixing vessel. The fifth ballast tank 1015 is disposed in the middle of the third ballast tank 1013 and the fourth ballast tank 1014. The first, second, third, fourth and fifth de-ballast tanks 1011, 1012, 1013, 1014, 1015 are connected to each other by the piping 103. The balance of the deep agitation vessel is adjusted by adjusting the weight of the water in the trim ballast tank 101.
The first and second ballast tanks 1011, 1012 have the same capacity, the third and fourth ballast tanks 1013, 1014 have the same capacity, and the third ballast tank 1013 has a capacity greater than the first ballast tank 1011. This is because the stirring piles of the deep stirring vessel are located at the stem position and the stirring piles have a certain weight. It is necessary to determine the capacities of the first, second, third, fourth and fifth de-ballast tanks 1011, 1012, 1013, 1014 and 1015 according to the weights of the stirring piles so that the weight of the bow and the weight of the stern are matched.
The tilt pump set 102 includes two tilt pumps 1021 and three tilt pumps 1022.
The two transverse adjusting pumps 1021 are used for one, when the transverse adjusting pumps 1021 in use are in fault, the standby transverse adjusting pumps 1021 are started, and the safe and stable operation of the system is ensured. The transverse inclination adjusting pump 1021 is an axial reversible axial flow pump, and the flow is 100m 3 And/h, a gas pressure of 2.5bar. The trim pump 1021 is connected to the first trim ballast tank 1011 and the second trim ballast tank 1012 via the pipeline 103 for adjusting the trim of the deep mixing vessel.
The three tilt pumps 1022 are dual-purpose and one standby, and when the tilt pump 1022 in use fails, the standby tilt pump 1022 is started, so that the safe and stable operation of the system is ensured. The tilt pump 1022 is an axial reversible axial flow pump with the flow rate of 600m 3 And/h, a gas pressure of 2.0bar. The trim pump 1022 is connected to all of the trim ballast tanks 101 through the piping 103, for adjusting the trim and trim of the deep-stirred vessel.
The invention sets the flow rate of the transverse inclination adjusting pump 1021 to be 100m 3 And/h, the flow rate of the tilt pump 1022 is 600m 3 And/h, the flow rate of the tilt pump 1022 is larger. When the deep-seated stirring vessel is slightly inclined, only the transverse inclination adjusting pump 1021 may be started to adjust. When the deep mixing vessel is inclined greatly, the inclination adjusting pump 1022 with high flow rate can be selectively started to adjust, or the transverse inclination adjusting pump 1021 and the inclination adjusting pump 1022 are simultaneously started to adjust, so that the deep mixing vessel can quickly recover the balance position, and the construction safety is ensured.
The flow rate of the pipeline 103 needs to be matched with the flow rates of the roll-adjusting pump 1021 and the roll-adjusting pump 1022.
The valve member 104 is disposed on the conduit. The valve element 104 includes a manual butterfly valve 1041, a hydraulic butterfly valve 1042, and a butterfly check valve 1043. The manual butterfly valve 1041 is used for manually controlling the flow direction of water. The hydraulic butterfly valve 1042 is used to control the flow direction of water by hydraulic pressure. The butterfly check valve 1043 is used to prevent the water from flowing backward.
By controlling the start and stop of the tilt pump 1021 and the tilt pump 1022 in the tilt pump group 102 and the opening and closing of the valve 104, a passage for regulating water to the designated tilt ballast tank 101 can be formed in the pipeline 103, thereby adjusting the balance of the deep-layer stirring vessel.
Each of the trim ballast tanks 101 has a water inlet 1016 thereon. The water inlet 1016 includes an outer water inlet, an outer water outlet, and an inner water delivery port. The external water filling port is used for filling water (for example, seawater) outside the trim ballast water tank 101 into the trim ballast water tank 101. The external drain is used to drain water in the trim ballast water tank 101 to the outside of the trim ballast water tank 101, for example to sea water. The external water (e.g., seawater) of the de-centralized ballast water tank 101 needs to be treated before the external water is injected into the de-centralized ballast water tank 101 or before the water in the de-centralized ballast water tank 101 is discharged to the outside of the de-centralized ballast water tank 101.
When the deep mixing vessel is laterally inclined during construction, for example, the deep mixing vessel is inclined rightwards and the deep mixing vessel has a deep draft, and the water level in the second and fourth transfer ballast tanks 1012 and 1014 on the starboard side of the vessel is high, the external water discharge ports on the second and fourth transfer ballast tanks 1012 and 1014 on the starboard side of the vessel may be opened to discharge the water in the second and fourth transfer ballast tanks 1012 and 1014 on the starboard side of the vessel to the outside of the vessel. At this time, the weight of the starboard tilting ballast water tank is reduced, so that a moment opposite to the righting of the ship is generated to correct the righting of the deep stirring ship, and the ship is restored to a floating state.
When the deep agitation vessel is inclined to the left during construction and the draft of the deep agitation vessel is shallow at this time, and the water level in the second and fourth transfer ballast tanks 1012 and 1014 on the starboard of the vessel is low, the external water filling ports on the second and fourth transfer ballast tanks 1012 and 1014 on the starboard of the vessel may be opened to fill the second and fourth transfer ballast tanks 1012 and 1014 on the starboard of the vessel with water external to the vessel. At this time, the weight of the starboard side tipping ballast water tank is increased, so that a moment opposite to the left tipping of the ship is generated to correct the left tipping of the deep stirring ship, and the ship is restored to a floating state.
When the deep mixing vessel is pitched during construction, for example, the deep mixing vessel is tilted to the bow and the deep mixing vessel has a deep draft, and the water level in the first and second trim ballast tanks 1011 and 1012 of the bow is high, the external water outlet in the first and second trim ballast tanks 1011 and 1012 of the bow can be opened to discharge the water in the first and second trim ballast tanks 1011 and 1012 to the outside of the vessel. At this time, the weight of the bow-trim ballast water tank is reduced, so that moment opposite to the trim in the direction of the bow is generated to correct trim of the deep mixing ship, and the ship is restored to a normal floating state.
When the deep stirred vessel is inclined to the bow during construction and the draft of the deep stirred vessel is shallow, and the water level of the third, fourth and fifth ballast tanks 1013, 1014 and 1015 is low, the external water filling ports on the third, fourth and fifth ballast tanks 1013, 1014 and 1015 may be opened to fill the third, fourth and fifth ballast tanks 1013, 1014 and 1015 with water outside the vessel. At this time, the weight of the stern pitching ballast water tank is increased, so that moment opposite to pitching in the direction of the bow is generated to correct pitching of the deep stirring ship, and the ship is restored to a normal floating state.
The internal water delivery port is connected to the pipeline 103, and is used for delivering the water in the designated trim ballast water tank 101 to other trim ballast water tanks 101 or delivering the water delivered in other trim ballast water tanks 101 to the designated trim ballast water tanks 101. I.e. for mutually mobilizing the water in each of the de-mobilized ballast water tanks 101 to adjust the weight of the water in each of the de-mobilized ballast water tanks 101.
When the deep mixing vessel is transversely inclined in the construction process, the weight of water in the left and right side of the water ballast tanks 101 is correspondingly changed by mutually adjusting the water in the first water ballast tank 1011, the third water ballast tank 1013 and the second water ballast tank 1012 and the fourth water ballast tank 1014 which are positioned on the left side of the vessel, so that the force opposite to the transverse inclination of the vessel is generated to correct the balance of the vessel, and the vessel is in a positive floating state, thereby ensuring the construction safety of the deep mixing vessel.
For example, when the deep-tank ship is at a proper position of the water level, but the deep-tank ship is inclined rightward, a passage for adjusting the water in the port side ballast tank can be formed in the pipeline 103 by controlling the start and stop of the trim pump 1021 or the trim pump 1022 and the opening and closing of the valve 104. At this time, the first, second, third, and fourth water transfer ports in the first, second, third, and fourth water ballast tanks 1011, 1012, 1013, 1014 are opened, the transfer pump 1022 is started to transfer water in the second, fourth, and fourth water ballast tanks 1012, 1014 located on the starboard side to the first, third, and third water ballast tanks 1011, 1013 located on the port board side, and the trim angle of the ship is gradually adjusted; the transfer pump 1021 and the transfer pump 1022 may be activated simultaneously, the transfer pump 1021 transfers the water in the second transfer ballast tank 1012 on the starboard side to the first transfer ballast tank 1011 on the port side, and the transfer pump 1022 transfers the water in the fourth transfer ballast tank 1014 on the starboard side to the third transfer ballast tank 1013 on the port side, thereby accelerating the transfer adjustment speed. At this time, the weight of the starboard side tipping ballast water tank is gradually reduced, and the weight of the port side tipping ballast water tank is gradually increased, so that a moment opposite to the ship right tipping is generated to correct the right tipping of the deep stirring ship, and the ship is restored to a floating state.
Also, when the deep mixer vessel is at a proper position of the draft level but the deep mixer vessel is inclined to the bow, a passage for regulating the flow of ballast water to the stern is formed in the pipeline 103 by controlling the start and stop of the regulating pump 1022 and the opening and closing of the valve 104. At this time, the inner water supply ports of the first, second, third, and fourth ballast tanks 1011, 1012, 1013, 1014 are opened, and the water in the first and second ballast tanks 1011, 1012 at the bow is transferred to the third and fourth ballast tanks 1013, 1014 at the stern, so that the trim angle of the ship is gradually adjusted. At this time, the weight of the bow-trim ballast water tank is gradually reduced, and the weight of the stern-trim ballast water tank is gradually increased, so that moment opposite to pitching in the direction of the bow is generated to correct pitching of the deep mixing ship, and the ship is restored to a floating state.
The automatic control system includes a draft sensor 105 (not shown), an inclinometer 106 (not shown), a level switch 107, and a PLC control system 108 (not shown).
The PLC control system 108 includes a PLC control master 1081 and a PLC control slave 1082. The PLC slave station 1082 is disposed in the on-site collection boxes of the left and right sides of the nacelle of the deep mixing vessel, and is mainly responsible for interfaces with external devices, including collection of execution signals and transmission of execution control instructions.
The PLC master station 1081 and the inclinometer 106 are disposed on a centralized control console of the deep mixing vessel control room.
The PLC control system 108 further includes a processor, a communication module, an I/O module, a dc dual-loop power supply, a signal isolator, an intermediate relay, and other related elements and control software.
The number of the draft sensors 105 is at least four, the draft sensors are respectively arranged at four corners of the bottom of the deep mixing ship, and the signal output ends of the draft sensors 105 are connected with the first signal input end of the PLC slave station 1082. The draft sensor 105 is used to detect the draft level at the four corners of the bottom of the deep stirred vessel and transmit the draft level signal to the PLC slave 1082.
The inclinometer 106 is disposed on a centralized control console of the deep mixing vessel control cabin, and a signal output end of the inclinometer 106 is connected with a second signal input end of the PLC slave station 1082. The inclinometer 106 is used to detect the inclination angle and inclination direction of the deep-stirred vessel and transmit the inclination angle and inclination direction to the PLC slave station 1082. The inclination angle and the inclination direction include both a trim angle and a trim direction of the deep mixer vessel and a trim angle and a trim tendency of the deep mixer vessel.
The liquid level switch 107 is disposed in the tilting ballast tank 101, and a signal output end of the liquid level switch 107 is connected to a third signal input end of the PLC slave station 1082. The level switch 107 is used to detect the level of water in the trim ballast tank 101 and transmit the level signal to the PLC slave station 1082. A high level detection switch 1071 and a low level detection switch 1072 are also provided in the level switch 107.
The high level detection switch 1071 is configured to detect whether the level of water in the ballast tank 101 reaches a high level limit, and when the level of water in the ballast tank 101 reaches the high level limit, the high level detection switch 1071 outputs a high level alarm signal and transmits the high level alarm signal to the PLC slave station 1082.
The low liquid level detection switch 1072 is configured to detect whether the liquid level of the water in the ballast tank 101 reaches a low liquid level limit value, and when the liquid level of the water in the ballast tank 101 reaches the low liquid level limit value, the low liquid level detection switch 1071 outputs a low liquid level alarm signal and transmits the low liquid level alarm signal to the PLC slave station 1082.
The signal output end of the tilt pump set 102 is connected to the fourth signal input end of the PLC slave station 1082, and is used for detecting the start-stop states of the two tilt pumps 1021 and the three tilt pumps 1022 in the tilt pump set 102.
The signal output terminal of each valve element 104 is connected to the fifth signal input terminal of the PLC slave station 1082 for detecting the open/closed state of each valve element. The valve element 104 includes a plurality of manual butterfly valves 1041, a plurality of hydraulic butterfly valves 1042, and a plurality of butterfly check valves 1043. The fifth signal input of the PLC slave 1082 includes a plurality of I/O ports, each for collecting an open and closed state signal of the valve member 104.
The signal output end of the water inlet 1016 is connected to the tenth signal input end of the PLC slave station 1082, and is used for detecting the open/close state of each water inlet 1016.
The automatic control system further comprises a plurality of instruments 109, wherein the instruments 109 are arranged on the pipeline 103 and comprise a pressure sensor 1091, a pressure gauge 1092 and a vacuum pressure gauge 1093.
Each connection pipe of the camber-adjusting pump 1021 is provided with a set of pressure sensor 1091, a pressure gauge 1092 and a vacuum pressure gauge 1093, and for the camber-adjusting pump 1021, the pressure sensor 1091 and the pressure gauge 1092 are arranged between the camber-adjusting pump 1021 and the butterfly check valve 1043 nearest to the camber-adjusting pump 1021. The vacuum pressure gauge 1093 is disposed between the trim pump 1021 and the hydraulic butterfly valve 1042 nearest to the trim pump 1021.
A set of pressure sensor 1091, pressure gauge 1092 and vacuum pressure gauge 1093 are also disposed on the connection line of each tilt pump 1022, and for the tilt pumps 1022, the pressure sensor 1091 and the pressure gauge 1092 are disposed between the tilt pump 1022 and the butterfly check valve 1043 nearest to the tilt pump 1022. The vacuum pressure gauge 1093 is disposed between the tilt pump 1022 and the hydraulic butterfly valve 1042 nearest to the tilt pump 1022.
The signal output end of each pressure sensor 1091 is connected to the seventh signal input end of the PLC slave 1082, and is configured to detect the pressure of the pipeline 103, convert the pressure into a pressure electrical signal, and output the pressure electrical signal to the PLC slave 1082.
The signal output end of each pressure gauge 1092 is connected to the eighth signal input end of the PLC slave station 1082, and is configured to obtain the discharge pressure of the tilt pump set 102 and transmit the discharge pressure to the PLC slave station 1082.
The signal output end of each vacuum pressure gauge 1093 is connected to the ninth signal input end of the PLC slave station 1082, and is configured to detect the suction vacuum of the tilt pump set 102, obtain a suction vacuum signal, and transmit the suction vacuum signal to the PLC slave station 1082.
Each pressure sensor 1091 is connected to the pipeline 103 through a pressure sensor valve for controlling the connection state of the pressure sensor 1091 to the pipeline 103. When the pressure sensor 1091 needs to be replaced, the pressure sensor valve member may be closed for replacement. When the pressure of a certain section of pipeline 103 does not need to be detected, the pressure sensor valve corresponding to the pipeline 103 can be closed.
Each pressure gauge 1092 is connected to the pipeline 103 through a pressure gauge valve, and is used for controlling the communication state between the pressure gauge 1092 and the pipeline 103.
Each vacuum pressure gauge 1093 is connected to the pipeline 103 through a vacuum pressure gauge valve, and is used for controlling the communication state between the vacuum pressure gauge 1093 and the pipeline 103.
The first signal output end of the PLC slave 1082 is connected to the signal input end of the PLC master 1081, and is configured to transmit the draft level signal collected by the draft sensor 105, the inclination angle and inclination direction collected by the inclinometer 106, the liquid level collected by the liquid level switch 107, the high liquid level alarm signal detected by the high liquid level detection switch 1071, the low liquid level alarm signal detected by the low liquid level detection switch 1072, the start-stop state signal of the tilt pump set 102, the open-close state signal of the valve element 104, the open-close state signal of the water inlet 1016, the pressure signal of the pipeline 103, the discharge pressure signal of the tilt pump set 102, and the suction vacuum signal to the PLC master 1081.
The first through fourth signal outputs of the PLC slave 1082 include a plurality of I/O ports, each for transmitting a signal. Likewise, the first through tenth signal inputs of the PLC slave 1082 also have a plurality of I/O ports, respectively, each for transmitting a signal.
The automatic control system further comprises a monitoring computer workstation, wherein the monitoring computer workstation comprises a computer 110 and network communication equipment, and the network communication equipment comprises a network switch 111, a gateway 112 and a communication bus 113.
The network switch 111 is connected to the computer 110, the PLC master station 1081 and the gateway 112 through the communication bus 113, respectively, for data interaction between the computer 110, the PLC master station 1081 and the gateway 112.
The communication bus 113 is used for converting signals collected by devices into network signals, so that the network signals exchange data through the network switch 111.
The gateway 112 includes a tide level telegauge gateway and a standby serial port gateway. The tide level remote-reporting instrument gateway is connected with the computer 110 through the network switch 111, and is used for converting tide level data acquired in real time into tide level information after digital processing such as surge suppression and intelligent screening, and transmitting the tide level information to the computer 110. The standby serial port gateway is connected to the computer 110 through the network switch 111 and is used as a standby serial port for standby.
The PLC master station 1081 transmits the draft level signal, the inclination angle and inclination direction, the liquid level, the high liquid level alarm signal, the low liquid level alarm signal, the start-stop state signal of the tilt pump unit 102, the open-close state signal of the valve element 104, the open-close state signal of the water inlet 1016, the pressure signal of the pipe 103, the discharge pressure signal of the tilt pump unit 102, and the suction vacuum signal to the computer 110 through the network switch 111 and displays them.
The computer 110 is provided with control software for an autonomous balance system of the deep mixing vessel, and displays the draft water level signal, the inclination angle and the inclination direction, the liquid level, the high liquid level alarm signal, the low liquid level alarm signal, the start-stop state signal of the tilt adjusting pump set 102, the open-close state signal of the valve element 104, the open-close state signal of the water inlet 1016, the pressure signal of the pipeline 103, the pressure discharge signal of the tilt adjusting pump set 102 and the suction vacuum signal on an interface of the software, and can control the start-stop state of the tilt adjusting pump set 102, the open-close state of the valve element 104 and the open-close state of the water inlet 1016 through the interface.
The control software of the autonomous balance system of the deep stirring vessel is based on the hardware design of the autonomous balance system of the deep stirring vessel and an external interface of a construction management system, and data monitoring and equipment control of functions related to the tilting and loading adjustment of the vessel are realized by collecting bottom hardware data and external interface data.
The computer 110 also stores a pre-load scheme in which different loading schemes under the suction vacuum, such as different draft levels, different inclination angles and different inclination directions, different liquid levels, different start/stop states of the tilt pump set 102, different open/close states of the valve element 104, different open/close states of the water inlet/outlet 1016, different pressures, different discharge pressures, and different suction vacuums are described. For generating automatic control signals for the tilt pump set 102, the valve member 104 and the water inlet 1016 according to the pre-load scheme.
The computer 109 transmits the automatic control signal to the PLC master station 1081 through the network switch 111.
The signal output end of the PLC master station 1081 is connected to the sixth signal input end of the PLC slave station 1082, and is configured to transmit the automatic control signal to the PLC slave station 1082.
The second signal output end of the PLC slave station 1082 is connected to the controller of the tilt pump set 102, and is configured to control the start and stop of the tilt pump 1021 and the tilt pump 1022 according to the automatic control signal.
The third signal output end of the PLC slave 1082 is connected to the control end of the valve member 103, and is configured to control the opening and closing of each valve member 103 according to the automatic control signal.
The fourth signal output end of the PLC slave 1082 is connected to the control end of the water inlet 1016, and is configured to control the opening and closing of the water inlet 1016 according to the automatic control signal.
The flow direction of water in the pipeline 103 is controlled by controlling the start and stop of the tilt pump set 102 and the opening and closing of the valve 103 and the water inlet 1016, and the external water intake and discharge amount of each tilt ballast tank 101 is also controlled by the opening and closing of the water inlet 1016, so that the liquid level in each tilt ballast tank 101 is adjusted to reach a liquid level set value set in the pre-allocation scheme. When the liquid level in each of the tilting ballast tanks 101 gradually reaches the set liquid level value set in the pre-allocation scheme, the inclination angle of the deep mixing vessel is gradually reduced, and when the adjustment reaches the set inclination angle, the autonomous balancing system of the deep mixing vessel stops working.
When the PLC master station 1081 is not connected to the computer 110, the PLC master station 1081 performs logic operations and processes on the draft level, the inclination angle and the inclination direction, the liquid level, the on-off state of the tilt pump unit 102, the open/close state of the valve element 104, the open/close state of the water inlet 1016, the pressure signal of the pipe 103, the pressure discharge signal of the tilt pump unit 102, and the suction vacuum signal, generates the automatic control signal, and directly transmits the automatic control signal to the PLC slave station 1082 for control.
According to the autonomous balance system of the deep stirring ship, the start and stop of the tilt adjusting pump set, the opening and closing of the valve and the water inlet and outlet can be automatically controlled according to the parameters acquired by the draft sensor, the inclinometer and other equipment in real time, so that the water level of each tilt adjusting ballast water tank is adjusted, the ship is always in a construction allowed floating state range no matter the lifting height of the processor is positioned at any position, the phenomenon that the stirring pile of the deep stirring ship is easy to deform or even break under alternating load is avoided, and safe construction conditions are ensured.
FIG. 2 is a flow chart of a method for autonomous balancing of a deep stirred vessel in accordance with an embodiment of the present invention.
Referring to fig. 2, a method of autonomous deep-seated stirring vessel balancing, the method being applied to the autonomous deep-seated stirring vessel balancing system, the method comprising:
step 201: and obtaining the draft water levels at four corners of the bottom of the deep mixing ship, the liquid level of each tilting ballast water tank, the tilting angle of the deep mixing ship and the tilting direction of the deep mixing ship.
The ship attitude can be obtained through a draft sensor or an inclinometer, and the obtained data is used as the adjustment basis of the autonomous balance method of the deep stirring ship.
The inclination angle of the deep mixing vessel and the inclination direction of the deep mixing vessel can be measured by the inclinometer 106, and can also be calculated according to the draft water levels at the four corners of the bottom of the deep mixing vessel.
Step 202: and calculating the trim angle and trim direction of the deep stirring ship according to the draft water level.
The pitch angle and pitch direction of the deep-stirred vessel may be calculated according to the draft levels at the four corners of the bottom of the deep-stirred vessel, or may be measured by the inclinometer 106.
Step 203: and adjusting the liquid level in each of the trim ballast tanks according to the trim angle, the trim direction, the trim angle, the trim direction and the liquid level to enable the liquid level to reach a liquid level set value for enabling the deep mixing vessel to recover to an equilibrium position.
The step 203 specifically includes:
step 2031: and judging the draft level of the deep stirring ship according to the draft level, wherein the draft level comprises a shallow water level, a moderate water level and a deep water level. The draft of the deep stirring vessel at the deep water level is greater than the draft of the deep stirring vessel at the moderate water level, and the draft of the deep stirring vessel at the moderate water level is greater than the draft of the deep stirring vessel at the shallow water level.
Step 2032: and judging the liquid level of the water in each tipping ballast water tank according to the liquid level, wherein the liquid level comprises a low liquid level, a moderate liquid level and a high liquid level. The level of water in the de-tipping ballast water tank at the high level is higher than the level of water in the de-tipping ballast water tank at the moderate level, and the level of water in the de-tipping ballast water tank at the moderate level is higher than the level of water in the de-tipping ballast water tank at the low level.
Optionally, the method further comprises:
acquiring the liquid level of each tilting ballast water tank of the deep stirring ship;
judging whether the liquid level is higher than a set liquid level upper limit value or lower than a set liquid level lower limit value;
when the liquid level is higher than the upper limit value of the liquid level, a high liquid level alarm is sent out;
and when the liquid level is lower than the liquid level lower limit value, a low liquid level alarm is sent out.
Step 2033: and judging the transverse inclination angle, the transverse inclination direction, the longitudinal inclination angle and the longitudinal inclination direction.
Step 2034: and generating automatic control signals according to the draft level, the liquid level, the transverse inclination angle, the transverse inclination direction, the longitudinal inclination angle and the longitudinal inclination direction, and adjusting the balance of the deep mixing ship according to the automatic control signals.
The principle of the autonomous balancing method of the deep stirring ship is as follows: and calculating the inclination angle of the current ship through signals acquired by the draft sensor and the inclinometer, automatically starting the inclination adjusting pump group and opening the corresponding valve, so that the whole system forms a passage for adjusting water to the designated inclination adjusting ballast water tank, and starting to adjust the inclination angle of the ship. And acquiring and calculating the inclination angle of the ship in real time, and stopping working of the self-regulating and tilting water ballast system when the inclination angle set by the system is regulated.
That is, when the deep mixing vessel is laterally inclined during the construction process, the weight of water in the port and starboard side transfer ballast tanks 101 is changed accordingly by transferring water in the first transfer ballast tank 1011, the third transfer ballast tank 1013, the second transfer ballast tank 1012 and the fourth transfer ballast tank 1014 located on the port and starboard side of the vessel to generate a force opposite to the lateral inclination of the vessel to correct the balance of the vessel, thereby maintaining the vessel in a floating state and ensuring the construction safety of the deep mixing vessel.
The step 2034 thus comprises:
When the trim angle is greater than 1 degree, the trim angle is less than 1 degree, and the trim direction indicates tilting to the right, if it is determined that the deep mixing vessel is at a moderate water level, controlling the start and stop of the trim pump 1021 or the trim pump 1022 and the opening and closing of the valve 104, and forming a passage for adjusting water in the port trim ballast tank in the pipeline 103, specifically:
opening the internal water inlets on the first, second, third, and fourth water ballast tanks 1011, 1012, 1013, 1014 by an automatic control signal, starting the transfer pump 1022 to transfer water in the second and fourth water ballast tanks 1012, 1014 on the starboard side into the first and third water ballast tanks 1011, 1013 on the port board side, gradually adjusting the transverse angle of the ship;
or by activating the transfer pump 1021 and the transfer pump 1022 simultaneously by automatic control signals, the transfer pump 1021 transfers the water in the second transfer ballast tank 1012 on the starboard side to the first transfer ballast tank 1011 on the port side, and the transfer pump 1022 transfers the water in the fourth transfer ballast tank 1014 on the starboard side to the third transfer ballast tank 1013 on the port side, thereby accelerating the transfer adjustment speed. At this time, the weight of the starboard side tipping ballast water tank is gradually reduced, and the weight of the port side tipping ballast water tank is gradually increased, so that a moment opposite to the ship right tipping is generated to correct the right tipping of the deep stirring ship, and the ship is restored to a floating state.
When the trim angle is less than 1 degree, the trim angle is greater than 1 degree, and the trim direction indicates that the deep-stirred vessel is tilted toward the bow, if it is determined that the deep-stirred vessel is at a moderate water level, opening the internal water transfer ports on the first, second, third, fourth, and fifth trim ballast tanks 1011, 1012, 1013, 1014, and 1015 by the automatic control signal, activating the trim pump 1022 by the automatic control signal, and opening the valve on the pipeline connecting the first, fourth, and fifth trim ballast tanks 1011, and 1015 by the automatic control signal, and closing the valve on the pipeline connecting the first, fourth, and fifth trim ballast tanks 1011, 1011; opening valve members on lines connecting the second ballast water tank 1012 with the third ballast water tank 1013, the fourth ballast water tank 1014, and the fifth ballast water tank 1015, and closing valve members on lines connecting the third ballast water tank 1013, the fourth ballast water tank 1014, and the fifth ballast water tank 1015; the water in the first and second trim ballast tanks 1011 and 1012 at the foreship is transferred to the third and fourth trim ballast tanks 1013 and 1014 at the stern, and the trim angle of the ship is gradually adjusted.
At this time, the weight of the bow-trim ballast water tank is gradually reduced, and the weight of the stern-trim ballast water tank is gradually increased, so that moment opposite to pitching in the direction of the bow is generated to correct pitching of the deep mixing ship, and the ship is restored to a floating state. When the trim angle reaches a system set tilt angle (less than 1 degree), the trim pump 1022 is controlled to stop, the inner water delivery port and the valve member are closed by the automatic control signal.
The second principle of the autonomous balancing method of the deep stirring ship is as follows: and calculating the inclination angle of the current ship through signals acquired by the draft sensor and the inclinometer, automatically opening or closing an external water filling port or an external water discharging port of the designated inclination adjusting ballast water tank, discharging the water of the designated inclination adjusting ballast water tank, injecting the water outside the ship into the designated inclination adjusting ballast water tank, and starting to adjust the inclination angle of the ship. And acquiring and calculating the inclination angle of the ship in real time, and stopping working of the self-regulating and tilting water ballast system when the inclination angle set by the system is regulated.
The step 2034 therefore further comprises:
when the trim angle is greater than 1 degree, the trim angle is less than 1 degree, and the trim direction indicates tilting to the right, if it is determined that the deep stirred vessel is at a deep water level and the water levels in the second and fourth trim ballast tanks 1012, 1014 on the starboard side of the vessel are at a high level, the external water discharge ports on the second and fourth trim ballast tanks 1012, 1014 on the starboard side of the vessel are opened by the automatic control signal to discharge the water in the second and fourth trim ballast tanks 1012, 1014 on the starboard side of the vessel outside the vessel. At this time, the weight of the starboard tilting ballast water tank is reduced, so that a moment opposite to the righting of the ship is generated to correct the righting of the deep stirring ship, and the ship is restored to a floating state.
When the trim angle is greater than 1 degree, the trim angle is less than 1 degree, and the trim direction indicates tilting to the left, if it is determined that the deep stirred vessel is at a shallow water level and the level of water in the second and fourth trim ballast tanks 1012, 1014 on the starboard side of the vessel is at a low level, water outside the vessel is injected into the second and fourth trim ballast tanks 1012, 1014 on the starboard side of the vessel by opening the external water injection ports on the second and fourth trim ballast tanks 1012, 1014 by the automatic control signal. At this time, the weight of the starboard side tipping ballast water tank is increased, so that a moment opposite to the left tipping of the ship is generated to correct the left tipping of the deep stirring ship, and the ship is restored to a floating state. When the liquid level in the second and fourth trim ballast tanks 1012, 1014 reaches the liquid level set point, the trim angle reaches a system set tilt angle (less than 1 degree), and the external water filling port is controlled to close by the automatic control signal.
When the trim angle is less than 1 degree, the trim angle is greater than 1 degree, and the trim direction indicates tilting toward the bow, if it is determined that the deep stirred vessel is at a deep water level and the liquid level of water in the first and second trim ballast tanks 1011, 1012 at the bow is at a high level, the external water discharge ports on the first and second trim ballast tanks 1011, 1012 at the bow are opened by the automatic control signal, and water in the first and second trim ballast tanks 1011, 1012 is discharged outside the vessel. At this time, the weight of the bow-trim ballast water tank is reduced, so that moment opposite to the trim in the direction of the bow is generated to correct trim of the deep mixing ship, and the ship is restored to a normal floating state. When the liquid level in the first and second trim ballast tanks 1011, 1012 reaches the liquid level set point, the trim angle reaches a system set tilt angle (less than 1 degree), and the external drain opening is controlled to close by the automatic control signal.
When the trim angle is less than 1 degree, the trim angle is greater than 1 degree, and the trim direction indicates tilting toward the bow, if it is determined that the deep stirred vessel is at a shallow water level, and the liquid levels of water in the third trim ballast tank 1013, the fourth trim ballast tank 1014, and the fifth trim ballast tank 1015 at the stern are at a low liquid level, the external water filling ports on the third trim ballast tank 1013, the fourth trim ballast tank 1014, and the fifth trim ballast tank 1015 are opened by the automatic control signal, and water outside the vessel is filled into the third trim ballast tank 1013, the fourth trim ballast tank 1014, and the fifth trim ballast tank 1015 at the stern. At this time, the weight of the stern pitching ballast water tank is increased, so that moment opposite to pitching in the direction of the bow is generated to correct pitching of the deep stirring ship, and the ship is restored to a normal floating state. When the liquid level of the water in the third, fourth and fifth ballast tanks 1013, 1014, 1015 reaches the liquid level set value, the trim angle reaches a system set tilt angle (less than 1 degree), and the external water filling port is controlled to be closed by the automatic control signal.
The above only enumerates several specific embodiments of the step 2034, and according to the working principle of the autonomous balancing method of a deep mixing vessel provided by the invention, the inferred autonomous balancing method of a deep mixing vessel under different inclination angles, different inclination directions, different liquid level levels and different draft levels belongs to the protection scope of the invention.
According to the autonomous balancing method of the deep mixing vessel, the start and stop of the tilt adjusting water pump set 102, the opening and closing of the valve element 103 and the water inlet 1016 can be automatically controlled according to the real-time parameters such as the draft level, the inclination angle, the inclination direction, the liquid level and the like acquired by the draft sensor 105, the inclinometer 106 and the liquid level switch 107, so that the liquid level of water in each tilt adjusting water ballast tank 101 can be automatically adjusted, the vessel is always in a construction-allowed floating state range no matter the lifting height of the processor is positioned at any position, and the inclination angle of the vessel is controlled to be in a 1-degree range. The phenomenon that the stirring pile of the deep stirring vessel is easy to deform or even damage under alternating load is avoided, and the construction safety is ensured because of long length, poor rigidity and large moment generated after stress.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (10)
1. An autonomous deep stirred vessel balancing system, comprising: a pipeline system and an automatic control system;
the pipeline system comprises a tipping ballast water tank, a tipping pump set, a pipeline and a valve;
the de-centralized ballast water tanks comprise a first de-centralized ballast water tank, a second de-centralized ballast water tank, a third de-centralized ballast water tank, a fourth de-centralized ballast water tank and a fifth de-centralized ballast water tank; the first and second regulating ballast water tanks are symmetrically arranged on two sides of the bow of the deep mixing vessel; the third and fourth regulating ballast water tanks are symmetrically arranged on two sides of the stern of the deep mixing vessel; the fifth de-centralized ballast water tank is arranged between the third de-centralized ballast water tank and the fourth de-centralized ballast water tank; the first de-centralized ballast water tank, the second de-centralized ballast water tank, the third de-centralized ballast water tank, the fourth de-centralized ballast water tank and the fifth de-centralized ballast water tank are connected with each other by the pipeline; each of the tipping ballast water tanks is provided with a water inlet and a water outlet;
The tilt adjusting pump group comprises a tilt adjusting pump and a tilt adjusting pump; the trim pump is respectively connected with the first trim ballast water tank and the second trim ballast water tank through the pipeline; the tipping pump is connected with all the tipping ballast water tanks through the pipeline;
the valve part is arranged on the pipeline;
the automatic control system comprises a draft sensor, an inclinometer, a liquid level switch and a PLC control system;
the PLC control system comprises a PLC control master station and a PLC control slave station;
the draft sensor is arranged at four corners of the bottom of the deep stirring ship, and the signal output end of the draft sensor is connected with the first signal input end of the PLC slave station;
the inclinometer is arranged on a centralized control console of an operating room of the deep stirring boat, and a signal output end of the inclinometer is connected with a second signal input end of the PLC slave station;
the liquid level switch is arranged in the tipping ballast water tank, and the signal output end of the liquid level switch is connected with the third signal input end of the PLC slave station;
the signal output end of the tilt adjusting pump set is connected with the fourth signal input end of the PLC slave station; the signal output end of the valve element is connected with the fifth signal input end of the PLC slave station;
The first signal output end of the PLC slave station is connected with the signal input end of the PLC master station;
the signal output end of the PLC master station is connected with the sixth signal input end of the PLC slave station;
the second output end of the PLC slave station is connected with the controller of the tilt adjusting pump; the third output end of the PLC slave station is connected with the control end of the valve element; and the fourth output end of the PLC slave station is connected with the control end of the water inlet.
2. The system of claim 1, wherein the water inlet comprises an external water inlet, an external water outlet, and an internal water delivery port.
3. The system of claim 1, wherein the first and second trim ballast tanks have the same capacity, the third trim ballast tank has the same capacity as the fourth trim ballast tank, and the third trim ballast tank has a capacity greater than the first trim ballast tank.
4. The system of claim 1, wherein the trim pump flow rate is less than the trim pump flow rate.
5. The system of claim 1, wherein the valve element comprises a manual butterfly valve, a hydraulic butterfly valve, and a butterfly check valve.
6. The system of claim 5, wherein the automatic control system further comprises a plurality of instruments disposed on the pipeline, including a pressure sensor, a pressure gauge, and a vacuum pressure gauge;
the pressure sensor and the pressure gauge are arranged between the tilting pump and the butterfly check valve nearest to the tilting pump; the signal output end of the pressure sensor is connected with the seventh signal input end of the PLC slave station;
the signal output end of the pressure gauge is connected with the eighth signal input end of the PLC slave station;
the vacuum pressure gauge is arranged between the tilt adjusting pump and the hydraulic butterfly valve nearest to the tilt adjusting pump; and the signal output end of the vacuum pressure gauge is connected with the ninth signal input end of the PLC slave station.
7. The system of claim 1, wherein the PLC slave station is disposed within a site collection tank on both the left and right sides of a nacelle of the deep mixing vessel, and the PLC master station is disposed on the centralized console of a control room of the deep mixing vessel.
8. The system of claim 1, wherein the automated control system further comprises a supervisory computer workstation comprising a computer and a network communications device, the network communications device comprising a network switch, a gateway, and a communications bus;
The network switch is respectively connected with the computer, the PLC master station and the gateway through the communication bus.
9. A method of autonomous deep vessel balancing, the method being applied to the autonomous deep vessel balancing system of any of claims 1-8, comprising:
acquiring the draft water levels at four corners of the bottom of the deep mixing vessel, the liquid levels of the inclination-adjusting ballast water tanks, the transverse inclination angle of the deep mixing vessel and the transverse inclination direction of the deep mixing vessel;
calculating the pitching angle and the pitching direction of the deep stirring ship according to the draft water level;
and adjusting the liquid level in each of the trim ballast tanks according to the trim angle, the trim direction, the trim angle, the trim direction and the liquid level to enable the liquid level to reach a liquid level set value for enabling the deep mixing vessel to recover to an equilibrium position.
10. The method according to claim 9, wherein the method further comprises:
acquiring the liquid level of each tilting ballast water tank of the deep stirring ship;
judging whether the liquid level is higher than a set liquid level upper limit value or lower than a set liquid level lower limit value;
when the liquid level is higher than the liquid level upper limit value, a high liquid level alarm is sent out;
And when the liquid level is lower than the liquid level lower limit value, sending out a low liquid level alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508685.4A CN107150766B (en) | 2017-06-28 | 2017-06-28 | Autonomous balance system and method for deep stirring ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710508685.4A CN107150766B (en) | 2017-06-28 | 2017-06-28 | Autonomous balance system and method for deep stirring ship |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107150766A CN107150766A (en) | 2017-09-12 |
| CN107150766B true CN107150766B (en) | 2023-07-07 |
Family
ID=59795807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710508685.4A Active CN107150766B (en) | 2017-06-28 | 2017-06-28 | Autonomous balance system and method for deep stirring ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107150766B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107975036A (en) * | 2017-11-03 | 2018-05-01 | 中交四航局第二工程有限公司 | Three four axis working ships of Underwater Deep Silt basement process |
| KR102197665B1 (en) * | 2018-08-27 | 2020-12-31 | 가부시키가이샤 큐메이 | Gm calculation system, method and program thereof, and shear wave period prediction system, method and program thereof |
| CN109334891A (en) * | 2018-10-12 | 2019-02-15 | 中交天和机械设备制造有限公司 | A kind of ship tune inclines method and system |
| CN110171544A (en) * | 2019-05-06 | 2019-08-27 | 重庆机电职业技术学院 | The small-sized automatic collecting ship of equilibrium water surface floating material |
| CN110550163A (en) * | 2019-08-29 | 2019-12-10 | 南通中远海运川崎船舶工程有限公司 | automatic ship trim adjusting system based on optimal trim |
| CN111268047B (en) * | 2020-02-26 | 2021-05-18 | 浙江省海洋水产研究所 | Fishing boat transshipment and docking balancing device |
| CN111627288A (en) * | 2020-06-13 | 2020-09-04 | 南通大学 | Marine liquid level remote measurement and valve remote control system experimental device and control method thereof |
| CN111824348A (en) * | 2020-08-13 | 2020-10-27 | 连云港鸿云实业有限公司 | Pontoon with automatic lifting and automatic balancing functions and balancing method thereof |
| CN112309172B (en) * | 2020-10-27 | 2022-12-02 | 四川摩比斯智能物联科技有限公司 | Method and device for monitoring and balancing operation state of hydrofoil ship |
| CN114572342B (en) * | 2022-03-28 | 2023-09-22 | 广船国际有限公司 | Double-end ship with ballast system |
| CN115963849B (en) * | 2022-12-26 | 2024-04-09 | 南通润邦海洋工程装备有限公司 | Automatic load regulation system for preventing subversion of efficient and safe operation ship |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2569157A1 (en) * | 1984-08-14 | 1986-02-21 | Naidenov Evgeny | System for automatically controlling the trim and stability of a ship |
| CN202163593U (en) * | 2011-07-20 | 2012-03-14 | 大连金迈海洋工程技术有限公司 | Control system for regulating and loading ship |
| CN104229092A (en) * | 2014-09-15 | 2014-12-24 | 南通中远船务工程有限公司 | Automatic control system and automatic control method for ship heeling balance |
| JP2015013556A (en) * | 2013-07-04 | 2015-01-22 | 株式会社宇津木計器 | Hull abnormal inclination restoration system |
| CN105015728A (en) * | 2015-08-03 | 2015-11-04 | 大连海事大学 | Gasbag type anti-overturning device for ship |
| CN205469706U (en) * | 2016-03-21 | 2016-08-17 | 福建省马尾造船股份有限公司 | Heel system is prevented in pneumatics |
| CN207157437U (en) * | 2017-06-28 | 2018-03-30 | 中交上海航道局有限公司 | A kind of deep-layer stirring ship autonomic balance system |
-
2017
- 2017-06-28 CN CN201710508685.4A patent/CN107150766B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2569157A1 (en) * | 1984-08-14 | 1986-02-21 | Naidenov Evgeny | System for automatically controlling the trim and stability of a ship |
| CN202163593U (en) * | 2011-07-20 | 2012-03-14 | 大连金迈海洋工程技术有限公司 | Control system for regulating and loading ship |
| JP2015013556A (en) * | 2013-07-04 | 2015-01-22 | 株式会社宇津木計器 | Hull abnormal inclination restoration system |
| CN104229092A (en) * | 2014-09-15 | 2014-12-24 | 南通中远船务工程有限公司 | Automatic control system and automatic control method for ship heeling balance |
| CN105015728A (en) * | 2015-08-03 | 2015-11-04 | 大连海事大学 | Gasbag type anti-overturning device for ship |
| CN205469706U (en) * | 2016-03-21 | 2016-08-17 | 福建省马尾造船股份有限公司 | Heel system is prevented in pneumatics |
| CN207157437U (en) * | 2017-06-28 | 2018-03-30 | 中交上海航道局有限公司 | A kind of deep-layer stirring ship autonomic balance system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107150766A (en) | 2017-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107150766B (en) | Autonomous balance system and method for deep stirring ship | |
| CN207157437U (en) | A kind of deep-layer stirring ship autonomic balance system | |
| CN107215437B (en) | A kind of crane ship ballast water mixing system and its working method | |
| JP2018531172A (en) | General-purpose offshore platform, buoyancy adjustment method and stable power generation method | |
| CN106337971B (en) | A kind of buoyancy can be changed buoyancy tank and its application | |
| CN113221247B (en) | Optimization calculation method for ballast water allocation of full-rotation crane ship | |
| CN111824348A (en) | Pontoon with automatic lifting and automatic balancing functions and balancing method thereof | |
| CN111897279A (en) | Automatic ship fuel oil transferring and refuting control system | |
| CN112660295A (en) | Wharf boat liquid level measurement and valve control system | |
| CN209069744U (en) | A kind of bottom-sitting type wind turbine installation vessel | |
| CN212685866U (en) | Wharf boat with automatic lifting and automatic balancing functions | |
| CN113734370B (en) | Automatic ship attitude adjustment control method | |
| CN109811780A (en) | The safe water injection system of caisson and water injection technique | |
| CN117429567B (en) | Floating type offshore wind power cabin liquid level monitoring device and assessment method | |
| CN102616347B (en) | Automatic anti-heeling system for ballast pump | |
| CN109238863B (en) | Bottom-sitting structure for wind power installation ship and bottom-sitting overpressure load test method | |
| CN212530012U (en) | Dock gate capable of automatically keeping balance | |
| CN115310768A (en) | Intelligent integrated management system for transportation operation of semi-submersible barge | |
| CN107975036A (en) | Three four axis working ships of Underwater Deep Silt basement process | |
| CN216689466U (en) | Automatic water adding device for caisson | |
| CN209703537U (en) | The safe water injection system of caisson | |
| CN207646740U (en) | Three four axis working ships of Underwater Deep Silt basement process | |
| CN212291268U (en) | Underwater collapsible replaceable oil storage system | |
| CN111661276A (en) | Dock gate capable of automatically keeping balance | |
| CN210341975U (en) | Major diameter single pile steel-pipe pile interpolation changeover portion grouting construction system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |